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EP3435885A1 - Système de détection à capteurs - Google Patents

Système de détection à capteurs

Info

Publication number
EP3435885A1
EP3435885A1 EP17714195.9A EP17714195A EP3435885A1 EP 3435885 A1 EP3435885 A1 EP 3435885A1 EP 17714195 A EP17714195 A EP 17714195A EP 3435885 A1 EP3435885 A1 EP 3435885A1
Authority
EP
European Patent Office
Prior art keywords
detection
sensors
receiving means
transmitter
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17714195.9A
Other languages
German (de)
English (en)
Other versions
EP3435885B1 (fr
Inventor
Thomas Kahler
Roland-Alois Högerle
Martin Machill
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aesculap AG
Original Assignee
Aesculap AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aesculap AG filed Critical Aesculap AG
Priority to EP21181118.7A priority Critical patent/EP3903689B1/fr
Publication of EP3435885A1 publication Critical patent/EP3435885A1/fr
Application granted granted Critical
Publication of EP3435885B1 publication Critical patent/EP3435885B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/24—Surgical instruments, devices or methods for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00057—Light
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/0091—Handpieces of the surgical instrument or device
    • A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
    • A61B2018/0094—Types of switches or controllers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals

Definitions

  • the invention relates to a sensory sensor system and relates in particular to a sensoric sensor system for a medical, in particular surgical, motor system or a medical, in particular surgical, electric drive.
  • a known sensory sensor system for a surgical motor system is a single-channel, non-redundant encoder system using, for example, a Hall sensor for electrical systems, which is used inter alia in a likewise known motor cable with manual control. In such electrical systems so far mechanical return springs are used, the one
  • Actuator such as a lever or a slider after successful operation by a user to return to the initial position. If an incorrect signal is issued by a sensor of the encoder system unintentionally, a safety-related malfunction may occur. For example, if the sensor should fail suddenly, perhaps due to a stuck-at-fault error or
  • Adhesion failure of the sensor an error in which, for example, a sensor gate at an input or output "stuck" to a certain value
  • an application part or tool can get started or start without a user
  • Actuator operated. This allows the user to work with the
  • This object is achieved by a donor system with the features of claim 1 and by a manual control with the features of claim 15.
  • Advantageous developments of the invention are the subject of the appended subclaims.
  • the invention is based on the general idea of providing multi-channel and thus redundant signals and / or encoder systems in manual controls.
  • at least two sensors which are controlled independently of each other but in parallel (at the same time), it is ensured that in the event of a failure of at least one sensor, an error or defect is detected and the manual control by an external sensor
  • Control unit with which the hand control is usually connected, can be disabled. According to the underlying general idea, the
  • Output signals or output signal values of the at least two sensors can be programmed identically or differently, can be the activation of the sensors
  • the sensor or the sensors can be arranged fixed in a device and the magnet or the magnets to move to the sensor or the sensors, for example, circular arc in about the arrangement of a hinge device or linear.
  • multiple and at least two independent sensors can be integrated in one building block with several or at least two independent ones
  • a redundant sensory sensor system in manual and / or foot controls provides increased security against unintentional and unintentional starting of an application part or tool and thereby prevents a start-up of corresponding devices and thus injuries to sensitive tissue when the tool is in the site.
  • Motor system a multi-channel redundant designed detection device, adapted in a for controlling the medical engine system
  • Hand control device is received and arranged to detect the operation of an actuator of the manual control device, wherein the multi-channel redundant detection device is designed to plausibility of output signals thereof queried.
  • the multi-channel redundant detection device preferably includes at least two detection receiving devices and at least one
  • the at least two detection receiving devices are similar detection receiving devices.
  • the at least one detection transmission device includes exactly one detection transmission device that includes all of the at least two
  • Assigned receiving detection devices and is arranged to apply this to a basically the same detection end size.
  • an associated detection transmission device is provided for each of the at least two detection reception devices, which is arranged to apply a respective one of the at least two detection reception devices to a respective detection transmission signal.
  • At least two Hall sensors are arranged as the at least two detection receiving devices, and as the at least one
  • Detection transmitting device arranged at least one magnet.
  • at least two light sensors are arranged as the at least two detection receiving devices, and as the at least one
  • Detection transmitting device arranged at least one light source.
  • the at least two detection receiving devices are different detection receiving devices.
  • two detection reception devices and two detection transmission devices are arranged, one of the two
  • Detection receiving devices is a Hall sensor and the other of the two
  • Detection receiving devices is a light sensor, and one of the two
  • Detection transmitters is a magnet associated with the Hall sensor, and the other of the two detection transmitters is a light source corresponding to the one
  • Light sensor is assigned.
  • the at least two detection receiving devices each having independent detection areas in a common
  • the at least two detection receiving devices and / or the at least one detection transmitting device are vapor-tight and / or water-tightly encapsulated.
  • the at least two detection receiving means are fixedly arranged, and the at least one detection transmitting means is movably arranged and movable by operating the actuating means on a predetermined trajectory to the at least two detection receiving means to and from this.
  • the at least two detection receiving devices are preferred for this purpose.
  • the object is achieved by a donor system for a medical engine system, with a multi-channel redundant design
  • Detection device (40, 42), which in one for controlling the medical
  • Engine control system adapted hand control device (10) and arranged to actuate an actuating device (22; 23) of the
  • the actuator is configured as a lever or slider
  • the multichannel redundant detection means (40, 42) includes at least two detection receiving means (40) and exactly one detection transmitting means (42);
  • the one detection transmitting device all of the at least two
  • the multichannel redundant detection device (40, 42) is designed to be plausible for output signals of the same.
  • the encoder system is further developed such that the at least two detection receiving means (40) in the direction of a lever travel or
  • the encoder system is further developed such that the at least two detection receiving devices (40) include Hall sensors or light sensors and the exactly one detection transmitting device (42) includes a magnet or a light source.
  • the at least two detection receiving devices (40) include Hall sensors or light sensors and the exactly one detection transmitting device (42) includes a magnet or a light source.
  • the encoder system is further developed such that the at least two detection receiving means (40) are similar detection receiving means.
  • the encoder system is further developed such that an associated detection transmission device (42) is provided for each of the at least two detection reception devices (40) and arranged to apply a respective one of the at least two detection reception devices (40) to a respective detection transmission signal.
  • the encoder system is developed such that the at least two
  • Receiving receiving devices are.
  • the encoder system is developed such that the at least two
  • Detection areas are accommodated in a common housing arrangement.
  • the encoder system is developed such that the at least two
  • Detection transmission device (40) are vapor-tight and / or watertight encapsulated.
  • the encoder system is developed such that the at least two
  • Detecting receiving means (40) are fixedly arranged, and the one detection transmitting device (42) arranged to be movable and movable by actuation of the actuating means (22; 23) on a predetermined trajectory on the at least two detection receiving means (40).
  • the encoder system is developed such that the at least two
  • Receive receiving devices (40) are programmed to the same
  • FIG. 1 is a schematic representation of a manual control device of a leveraged medical or surgical motor system incorporating a sensory sensor system according to any of the methods described herein
  • Embodiments includes;
  • FIG. 2 is a schematic illustration of a manual control device of a pusher-type medical or surgical motor system incorporating a sensory sensor system according to any of the methods described herein.
  • FIG. 2 is a schematic illustration of a manual control device of a pusher-type medical or surgical motor system incorporating a sensory sensor system according to any of the methods described herein.
  • Embodiments includes;
  • FIG. 3 is a schematic representation of arrangements based on the example of a magnetically and magnetically influenced sensors based sensoric encoder system.
  • FIG. 4 is a schematic diagram of concepts for manual control devices using the arrangements of FIG. 3.
  • FIG. 1 is a schematic illustration of a manual control device 10 of a leveraged medical or surgical motor system incorporating a sensory sensor system according to any of the methods described herein
  • Embodiments includes.
  • Such a manual control device 10 is basically known, with the exception of the differences according to one of the following exemplary embodiments, and basically comprises an application-side motor cable plug 20 for supply and Control of the integrated, for example, in the handpiece electronic
  • Manual control device 10 is pivoted articulated.
  • Motorsystems powered medical tool such as milling cutters for treatment in situs is engaged.
  • Fields of application of such systems can be, for example, bone surgery and arthroscopy, neurosurgery, the
  • FIG. 2 is a schematic illustration of a manual control device of a pusher-type medical or surgical motor system incorporating a sensory sensor system according to any of the methods described herein
  • Embodiments includes.
  • a slide 23 is provided for the manual activation of the electronic engine system, which by means of a mechanical
  • Hand control device 10 according to FIG. 1 or FIG. 2, moreover, a sensor system for the medical or surgical motor system, which includes a multi-channel redundant detection device which is included in the adapted for controlling the medical motor system hand control device 10 and arranged to actuate the Levers 22 or the slider 23 of the hand controller 10 to detect, wherein the multi-channel redundant
  • the multichannel redundant detection device for this purpose includes at least two sensors 40, which respectively form detection receiving devices and can be designed as Hall sensors and / or optical sensors in the form of light sensors, and at least one size sensor or sensors acting on the sensors 40
  • (Sizes) transmitter 42 which forms a detection transmitting device and correspondingly as a magnet with magnetic north and south pole or as visible or non-visible region, for example infrared range, light-emitting
  • Light source can be formed.
  • the at least two sensors 40 and the at least one transmitter 42 form a multi-channel (redundant) (signal) encoder system, which serves the
  • Manual control device 10 to prevent the tool from running loose without request from the user.
  • the overall arrangement is designed to prevent a start or run-down of an application part or tool by means of the multi-channel redundant encoder system, if an error is detected and / or without a lever 22 or the slider 23 is actuated by a user. Therefore, even in a case where one of the sensors 40 suddenly becomes defective, a status or signal plausibility check based on the at least two output signals of the at least two sensors 40 detects an error condition, and by triggering a shutdown of the hand controller 10, it can be prevented the user is surprised by an application part / tool in the site of a sudden runaway of the tool.
  • at least two sensors 40 which are independent of each other but parallel (at the same time)
  • the at least two sensors 40 may be configured with a correspondingly adapted state or signal plausibility query for outputting fundamentally the same output signal, for example if the at least two sensors 40 are identical or of the same type or design, or alternatively different for output Output signals to be set up, for example, if the at least two sensors 40 are unequal or unequal type or design. If, for example, the individual sensors 40 each output signals that differ in their combination of predetermined plausible states or plausibility conditions, it can be concluded that an error condition exists.
  • exactly one transmitter 42 may be arranged, which is associated with all of the at least two sensors 40 and is arranged to apply these to a basically the same detection transmission size.
  • both sensors 40 receive or detect the basically same signal or a corresponding quantity from one and the same transmitter 42, for example a magnet or a light source.
  • a respective transmitter 42 individually associated with each sensor 40 may be provided, which is arranged to apply its respective signal or size to the corresponding sensor 42 assigned to it.
  • At least two Hall sensors are arranged as the at least two sensors 40, and at least one magnet is arranged as the at least one transmitter 40.
  • at least two light sensors are arranged as the at least two sensors 40, and at least one light source is arranged as the at least one transmitter 40.
  • two sensors 40 and two transmitters 42 may be arranged, one of the two sensors 40 a Hall sensor is and the other of the two sensors 40 is a light sensor, and one of the two transmitters 40 is a magnet associated with the Hall sensor, and the other of the two transmitters 42 a
  • Light source is associated with the light sensor.
  • the at least two sensors 40 each having independent detection areas in a common
  • Housing be included.
  • individually provided sensors 40 and / or sensors 40 installed in a common housing arrangement can each be vapor-tightly and / or water-tightly encapsulated, for example glued or potted.
  • the at least two sensors 40 are preferably received and arranged stationary in the handle or handpiece, and the at least one transmitter 42 is movably arranged in the lever 22 and can be actuated (pressed or released ) of the lever 22 are moved on a predetermined trajectory toward and away from the at least two sensors 40.
  • an actuation of the lever 22 by depression causes the at least one transmitter 42 to approach the at least two sensors 40, so that they detect its output variable (in the present embodiment, for example, a magnetic variable or a luminous flux) and, for example, when exceeded a threshold value or change their output signal, and performs an opposing operation of the lever 22 by releasing the at least one transmitter 42 from the at least two sensors 40 and attenuates the detectable by these signal.
  • the movement of the transmitter 42 follows in each case on the basis of the lever geometry on a predetermined movement or trajectory.
  • the at least two sensors 40 are preferably received and arranged stationary in the handle or handpiece, and the at least one transmitter 42 is arranged in the displacement path 27 between the slider 23 and the return spring 25, that an actuation of the slider 23 to a displacement of the transmitter 42 in a first direction and a release of the slider 23 due to the restoring force of the return spring 25 to a displacement of the transmitter 42 in a second, the first direction
  • the at least one transmitter 42 upon actuation / release of the slider 23, the at least one transmitter 42 will move in a reciprocal motion along the displacement path 27 to the positionally appropriate relationship therewith arranged, at least two sensors 40 introduced or moved away from them, so that these the output of the at least one transmitter 42 (in the
  • the displacement path 27 corresponds to a predetermined trajectory along which the at least one transmitter 42 is movable.
  • FIG. 3 shows a schematic diagram of a number of possible sensor-transmitter arrangements using the example of the sensor-based sensor system based on magnets and magnetically influenceable sensors on the basis of various exemplary embodiments.
  • the number of arrangements here is not limited to the number shown, so that application-related and / or in a concrete practical embodiment, other configurations may result.
  • FIG. 3 (A) shows a case in which two sensors 40 (Hall sensors) and two transmitters 42 (magnets) are arranged side by side. Each transmitter 42 in this case acts individually on its associated sensor 40.
  • FIG. 3 (B) shows a case in which two sensors 40 (Hall sensors) and two transmitters 42
  • FIG. 3 (C) shows a case in which two sensors 40 (Hall sensors) side by side and for both sensors 40 together a transmitter 42 (magnet) arranged are. In this case, only one transmitter 42 acts on both sensors 40 assigned to it.
  • FIG. 3 (D) shows a case in which two sensors 40 (Hall sensors) are arranged one behind the other and a transmitter 42 (magnet) is jointly arranged for both sensors 42 are. In this case too, the transmitter 42 acts on both sensors 40 assigned to it.
  • FIG. 3 (E) shows a case in which two sensors 40 are in a common position
  • FIGS. 3 (A) to 3 (D) that is to say in the case of two sensors 40 with two magnets or transmitters 40, as connections to each sensor 40 ground or ground Mass, supply voltage or supply voltage and output or output (ssignal) in the form of provided for a total of three sensor terminals may be provided, and in Fig. 3 (E), ie a double sensor with a magnet or transmitter 40 as connections Ground or Mass, supply voltage or supply voltage and output 1 or output (signal) 1 and output 2 or output (signal) 2 in the form of four sensor connections provided for this purpose can be provided.
  • FIG. 4 shows a schematic representation of concepts for manual control devices (here by means of the lever 22 or the slider 23) using the arrangements and / or exemplary embodiments according to FIG. 3.
  • Figs. 4 (L1) to 4 (L5) show shifter-based (parallel: (L1), (L2);
  • Slider 23 ( Figure 2), taken along an imaginary line in the direction of (and opposite to) an arrow also shown, i. in the direction of at least two stationary arranged sensors 40 or for an opposite process of these is displaced away.
  • lever-based controllers each having one or two transmitters 42 in which the at least one a movably arranged transmitter 42 by means of the lever 22 (FIG. 1) in the direction of the at least two stationary sensors 40 or for a
  • FIG. 4 (L6) to (L9) represents in each case a pivot point or a rotation axis of the lever 22 about which the imaginary line arranged at least one transmitter 42 in the direction of the arrow also shown (and opposite to this) is pivotable.
  • the at least one transmitter 42 is shown as being movable and the at least two sensors 40 are shown as being stationarily arranged.
  • the invention is not necessarily limited thereto. Rather, it is also a configuration can be represented, in which in each case at least one transmitter 42 stationary and the at least two sensors 40 are arranged to be movable.
  • the two Hall sensors can be replaced by, for example, two light systems (light emitters and light receivers) whose light emissions are in the visible or invisible range, for example the infrared range can.
  • an associated light source as the at least one transmitter 42 behind translucent materials, such as opaque or clear plastics or glass, or even behind a transparent in terms of transparency to dark, but infrared-permeable material covered, sealed and protected installed ,
  • a transmitter 42 is assigned directly and therefore the transmitter 42 does not move from one to another sensor 40, even one of the two Hall sensors to be replaced by such a lighting system.
  • the at least two sensors 40 it is possible for the at least two sensors 40 to be entirely analog, completely digital
  • an electric hand control which is preferably in the form of a housing arrangement with at least two sensor elements and at least one magnet, which are designed at least two channels, in order at at least twice (redundant) query detected erroneous signals, ie a Malfunction such as a start without request to stop the function of the manual control device and thereby Ensure that unwanted activation or unintentional continuation of application parts (eg in the site) is prevented.
  • the encoder system may thus be designed for a medical and / or surgical motor system and include a multi-channel redundant detection device which is included in a adapted for controlling the medical engine system hand control device and arranged to detect the operation of an actuator of the manual control device, the multi-channel redundant
  • Detection device is designed to plausibility of output signals thereof queried.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Mechanical Control Devices (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

Système de détection pour un système motorisé médical, qui contient un dispositif de détection (40, 42) multicanal conçu de manière redondante, disposé dans un dispositif de commande manuelle (10) adapté à la commande du système motorisé médical, et conçu pour détecter l'actionnement d'un dispositif d'actionnement (22; 23) du dispositif de commande manuelle (10), le dispositif de détection (40, 42) multicanal redondant étant conçu pour pouvoir être interrogé sur la plausibilité de ses signaux de sortie :
EP17714195.9A 2016-03-30 2017-03-28 Système de détection à capteurs Active EP3435885B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21181118.7A EP3903689B1 (fr) 2016-03-30 2017-03-28 Système de capteur sensoriel

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016105789.4A DE102016105789A1 (de) 2016-03-30 2016-03-30 Sensorisches Gebersystem
PCT/EP2017/057311 WO2017167749A1 (fr) 2016-03-30 2017-03-28 Système de détection à capteurs

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP21181118.7A Division EP3903689B1 (fr) 2016-03-30 2017-03-28 Système de capteur sensoriel

Publications (2)

Publication Number Publication Date
EP3435885A1 true EP3435885A1 (fr) 2019-02-06
EP3435885B1 EP3435885B1 (fr) 2021-06-30

Family

ID=58448538

Family Applications (2)

Application Number Title Priority Date Filing Date
EP21181118.7A Active EP3903689B1 (fr) 2016-03-30 2017-03-28 Système de capteur sensoriel
EP17714195.9A Active EP3435885B1 (fr) 2016-03-30 2017-03-28 Système de détection à capteurs

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP21181118.7A Active EP3903689B1 (fr) 2016-03-30 2017-03-28 Système de capteur sensoriel

Country Status (7)

Country Link
US (1) US11253238B2 (fr)
EP (2) EP3903689B1 (fr)
JP (1) JP7003051B2 (fr)
CN (1) CN108882925B (fr)
DE (1) DE102016105789A1 (fr)
ES (1) ES2888919T3 (fr)
WO (1) WO2017167749A1 (fr)

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CN113375547B (zh) * 2021-04-28 2023-12-01 深圳康诺思腾科技有限公司 输入设备、手术机器人和输入设备的开合角度检测方法
CN116760266B (zh) * 2023-08-21 2024-01-02 厚凯(北京)医疗科技有限公司 医疗能量器械的主机、由其执行的方法以及医疗能量器械

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CN108882925B (zh) 2021-10-26
CN108882925A (zh) 2018-11-23
EP3903689B1 (fr) 2025-10-22
US11253238B2 (en) 2022-02-22
JP2019512339A (ja) 2019-05-16
US20200297332A1 (en) 2020-09-24
EP3435885B1 (fr) 2021-06-30
DE102016105789A1 (de) 2017-10-05
ES2888919T3 (es) 2022-01-10
WO2017167749A1 (fr) 2017-10-05
JP7003051B2 (ja) 2022-01-20
EP3903689A1 (fr) 2021-11-03
EP3903689C0 (fr) 2025-10-22

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